Online visual internal detection device for small-pipe-diameter oil and gas pipeline

According to the online visual internal detection device for the small-pipe-diameter oil and gas pipeline, the device is provided with a stable and accurate umbrella-shaped braking structure, automatic obstacle avoidance and steering are achieved through modular design, meanwhile, the defect detection and image transmission functions are achieved, and the internal detection requirement of pipelines with complex characteristics is met; according to the device, high flexibility, accuracy, stability and variable diameter performance are combined, and an efficient and reliable solution is provided for internal defect identification and safety maintenance work of the small-pipe-diameter oil and gas pipeline. The device is small in size and mass, and is easy to carry and deploy in various environments; the operation process is simple and convenient, the automatic reducing function of the elastic structure eliminates the complexity of manual adjustment, and the high automation characteristic improves the detection e